Learning, planning, and control for quadruped locomotion over challenging terrain

Abstract

We present a control architecture for fast quadruped locomotion over rough terrain. We approach the problem by decomposing it into many sub-systems, in which we apply state-of-the-art learning, planning, optimization, and control techniques to achieve robust, fast locomotion. Unique features of our control strategy include: (1) a system that learns optimal… (More)
DOI: 10.1177/0278364910388677

Topics

17 Figures and Tables

Statistics

010203020112012201320142015201620172018
Citations per Year

135 Citations

Semantic Scholar estimates that this publication has 135 citations based on the available data.

See our FAQ for additional information.

Cite this paper

@article{Kalakrishnan2011LearningPA, title={Learning, planning, and control for quadruped locomotion over challenging terrain}, author={Mrinal Kalakrishnan and Jonas Buchli and Peter Pastor and Michael Mistry and Stefan Schaal}, journal={I. J. Robotics Res.}, year={2011}, volume={30}, pages={236-258} }